Relay tracking control for second-order multi-agent systems with damaged agents
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Updated: Feb 26, 2026

A Protocol for Real-time 3D Single Particle Tracking
Published on: January 3, 2018
Lijing Dong1, Jing Li1, Qin Liu1
1School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, PR China.
Abstract:
This paper investigates a situation where smart agents capable of sensory and mobility are deployed to monitor a designated area. A preset number of agents start tracking when a target intrudes this area. Some of the tracking agents are possible to be out of order over the tracking course. Thus, we propose a cooperative relay tracking strategy to ensure the successful tracking with existence of damaged agents. Relay means that, when a tracking agent quits tracking due to malfunction, one of the near deployed agents replaces it to continue the tracking task. This results in jump of tracking errors and dynamic switching of topology of the multi-agent system. Switched system technique is employed to solve this specific problem. Finally, the effectiveness of proposed tracking strategy and validity of the theoretical results are verified by conducting a numerical simulation.
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